00001 /* 00002 * follow_joint_trajectory_client.h 00003 * 00004 * Created on: 06.11.2011 00005 * Author: martin 00006 */ 00007 00008 #ifndef FOLLOW_JOINT_TRAJECTORY_CLIENT_H_ 00009 #define FOLLOW_JOINT_TRAJECTORY_CLIENT_H_ 00010 00011 #include <ros/ros.h> 00012 #include <control_msgs/FollowJointTrajectoryAction.h> 00013 #include <actionlib/client/simple_action_client.h> 00014 #include <sensor_msgs/JointState.h> 00015 #include <arm_navigation_msgs/FilterJointTrajectory.h> 00016 #include <trajectory_msgs/JointTrajectory.h> 00017 00018 namespace katana_tutorials 00019 { 00020 00021 typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> TrajClient; 00022 00023 class FollowJointTrajectoryClient 00024 { 00025 public: 00026 FollowJointTrajectoryClient(); 00027 virtual ~FollowJointTrajectoryClient(); 00028 00029 void startTrajectory(control_msgs::FollowJointTrajectoryGoal goal); 00030 control_msgs::FollowJointTrajectoryGoal makeArmUpTrajectory(); 00031 actionlib::SimpleClientGoalState getState(); 00032 00033 private: 00034 ros::NodeHandle nh_; 00035 TrajClient traj_client_; 00036 ros::Subscriber joint_state_sub_; 00037 std::vector<std::string> joint_names_; 00038 bool got_joint_state_; 00039 std::vector<double> current_joint_state_; 00040 ros::AsyncSpinner spinner_; 00041 00042 void jointStateCB(const sensor_msgs::JointState::ConstPtr &msg); 00043 trajectory_msgs::JointTrajectory filterJointTrajectory(const trajectory_msgs::JointTrajectory &input); 00044 }; 00045 00046 } /* namespace katana_tutorials */ 00047 #endif /* FOLLOW_JOINT_TRAJECTORY_CLIENT_H_ */
